JOE: A mobile, inverted pendulum

被引：501

作者：

Grasser, F

D'Arrigo, A

Colombi, S

Rufer, AC

机构：

[1] Swiss Fed Inst Technol, Ind Elect Lab, CH-1015 Lausanne, Switzerland

[2] IMV Invertomat Technol SA, CH-6595 Riazzino, Switzerland

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2002年 / 49卷 / 01期

关键词：

digital signal processor; gyroscope; modeling; robotics; state-space control;

D O I：

10.1109/41.982254

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a dc motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state-space controllers, pilots the motors so as to keep the system in equilibrium. See http://leiwww.epfl.ch/joe for a video demonstration of JOE.

引用

页码：107 / 114

页数：8